On the Optimal Stabilisation for a set of Programmed Motions of the Bilinear Control System

During recent years there has been considerable interest in using bilinear systems [1, 2] as mathematical models to represent the dynamic behavior of a wide class of engineering, biological and economic systems. Moreover, there are some methods [3] which may approximate nonlinear control systems by bilinear systems. For the first time Zubov has proposed a method of stabilization control synthesis for a set of programmed motions in linear systems [4]. In papers [5, 6] this method has been developed and used to solve the same problem for bilinear systems. In the present paper the following problems are considered. First, synthesis of nonlinear control as feedback under which the bilinear control system has a given set of programmed and asymptotic stable motions. Because this control is not unique, the second problem concerns optimal stabilization. In this paper a method for the design of nonlinear optimal control is suggested. This control is constructed in the form of a convergent series. The theorem on the sufficient conditions to solve this problem is represented.     

A Synthesis of the Control of Dynamical Systems on the Basis of the Method of Lyapunov Functions

We consider the problem of the synthesis of a bounded control reducing a dynamical system to the given terminal state in a finite time. Two approaches to solve the problem, based on methods of the theory of stability of motion, are provided. One of them is applicable to nonlinear Lagrange mechanical systems with undetermined parameters, while another is applicable to linear systems. The characteristic property is that the Lyapunov functions are defined implicitly in both cases. We make a comparison between these approaches.     

一类非线性离散系统基于有界反馈的奇异H_∞控制问题

主要研究基于有界控制律的一类非线性离散系统的奇异H∞控制问题.在系统不满足正则条件的情况下,分离出正则部分与非正则部分,给出基于有界反馈与二次Lyapunov函数的离散系统奇异H∞问题可解性的必要条件以及充分条件,求出的有界控制律能使得闭环系统在保证内稳定的条件下达到干扰衰减.     

Stabilizing unstable fixed points of discrete chaotic systems via quasi-sliding mode method

The problem of stabilizing unstable fixed points of nonlinear discrete chaotic systems, subjected to bounded model uncertainties, is investigated in this article. The theory is then generalized to include any dth-order fixed point of the system. To design a suitable controller, the theory of quasi-sliding mode control is modified and applied. Sufficient conditions for the convergence of the control algorithm are theoretically derived and it is shown that the error trajectories converge toward a bounded region around zero where the measure of the steady-state error band depends on the magnitude of the system uncertainties. As a case study, the proposed method is applied to the Henon map to stabilize its first, second, and fourth-order unstable fixed points. Simulation results show the high performance of the control technique in quenching the chaos in the presence of uncertainties.     

Reduced order controllers for distributed parameter systems: LQG balanced truncation and an adaptive approach

In this paper, two methods are reviewed and compared for designing reduced order controllers for distributed parameter systems. The first involves a reduction method known as LQG balanced truncation followed by MinMax control design and relies on the theory and properties of the distributed parameter system. The second is a neural network based adaptive output feedback synthesis approach, designed for the large scale discretized system and depends upon the relative degree of the regulated outputs. Both methods are applied to a problem concerning control of vibrations in a nonlinear structure with a bounded disturbance.     

Output Feedback Model Predictive Tracking Control Using a Slope Bounded Nonlinear Model

In this paper, an output feedback model predictive tracking control method is proposed for constrained nonlinear systems, which are described by a slope bounded model. In order to solve the problem, we consider the finite horizon cost function for an off-set free tracking control of the system. For reference tracking, the steady state is calculated by solving by quadratic programming and a nonlinear estimator is designed to predict the state from output measurements. The optimized control input sequences are obtained by minimizing the upper bound of the cost function with a terminal weighting matrix. The cost monotonicity guarantees that tracking and estimation errors go to zero. The proposed control law can easily be obtained by solving a convex optimization problem satisfying several linear matrix inequalities. In order to show the effectiveness of the proposed method, a novel slope bounded nonlinear model-based predictive control method is applied to the set-point tracking problem of solid oxide fuel cell systems. Simulations are also given to demonstrate the tracking performance of the proposed method.     

Computation of bounded feed-forward control for underactuated multibody systems using nonlinear optimization

Underactuation occurs, when only some generalized coordinates have a control input. For end-effector trajectory tracking a combined feed-forward and feedback control is often a suitable approach. Feed-forward control design based on an inverse model for underactuated multibody systems is presented. The starting point is the transformation of the multibody system into a nonlinear input-output normal-form. The inverse model follows from this and consists of chains of differentiators, driven internal dynamics and an algebraic part. Especially when using the end-effector as system output the internal dynamics is often unbounded. In order to obtain a viable feed-forward control, a bounded solution must be determined. For this task the internal dynamics is solved as a nonlinear optimization problem. Thereby, the coordinates of the internal dynamics define the objective function which is minimized. The equation of the internal dynamics must be fulfilled at each point of a discrete time grid. In addition continuity of the solution is achieved by adding as equality constraint an integration formula, e.g. trapezoidal rule. The optimization problem is then solved by a SQP-method. (© 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Optimal disturbance rejection control for nonlinear impulsive dynamical systems

In this paper, we develop an optimality-based framework for addressing the problem of nonlinear–nonquadratic hybrid control for disturbance rejection of nonlinear impulsive dynamical systems with bounded exogenous disturbances. Specifically, we transform a given nonlinear–nonquadratic hybrid performance criterion to account for system disturbances. As a consequence, the disturbance rejection problem is translated into an optimal hybrid control problem. Furthermore, the resulting optimal hybrid control law is shown to render the closed-loop nonlinear input–output map dissipative with respect to general supply rates. In addition, the Lyapunov function guaranteeing closed-loop stability is shown to be a solution to a steady-state hybrid Hamilton–Jacobi–Isaacs equation and thus guaranteeing optimality.     

On the Bellman Equation for Infinite Horizon Problems with Unbounded Cost Functional

We study a class of infinite horizon control problems for nonlinear systems, which includes the Linear Quadratic (LQ) problem, using the Dynamic Programming approach. Sufficient conditions for the regularity of the value function are given. The value function is compared with sub- and supersolutions of the Bellman equation and a uniqueness theorem is proved for this equation among locally Lipschitz functions bounded below. As an application it is shown that an optimal control for the LQ problem is nearly optimal for a large class of small unbounded nonlinear and nonquadratic pertubations of the same problem. Accepted 8 October 1998     

Filtering for a class of nonlinear discrete-time stochastic systems with state delays

In this paper, the filtering problem is investigated for a class of nonlinear discrete-time stochastic systems with state delays. We aim at designing a full-order filter such that the dynamics of the estimation error is guaranteed to be stochastically, exponentially, ultimately bounded in the mean square, for all admissible nonlinearities and time delays. First, an algebraic matrix inequality approach is developed to deal with the filter analysis problem, and sufficient conditions are derived for the existence of the desired filters. Then, based on the generalized inverse theory, the filter design problem is tackled and a set of the desired filters is explicitly characterized. A simulation example is provided to demonstrate the usefulness of the proposed design method.     

Generalized solutions to partial differential equations of evolution type

This paper deals with a new solution concept for partial differential equations in algebras of generalized functions. Introducing regularized derivatives for generalized functions, we show that the Cauchy problem is wellposed backward and forward in time for every system of linear partial differential equations of evolution type in this sense. We obtain existence and uniqueness of generalized solutions in situations where there is no distributional solution or where even smooth solutions are nonunique. In the case of symmetric hyperbolic systems, the generalized solution has the classical weak solution as macroscopic aspect. Two extensions to nonlinear systems are given: global solutions to quasilinear evolution equations with bounded nonlinearities and local solutions to quasilinear symmetric hyperbolic systems.     

Stabilization of stationary affine control systems with discrete time

We obtain new sufficient conditions for the local and global asymptotic stabilization of the zero solution of a nonlinear affine control system with discrete time and with constant coefficients by a continuous state feedback. We assume that the zero solution of the free system is Lyapunov stable. For systems with linear drift, we construct a bounded control in the problem of global asymptotic state and output stabilization. Corollaries for bilinear systems are obtained.     

一类死区非线性输入系统的自适应模糊控制

针对一类具有死区非线性输入的非线性系统,基于滑模控制的基本原理,利用II型模糊逻辑系统对未知函数进行在线逼近,提出了一种具有监督器的自适应模糊滑模控制方法。该方法通过监督控制器保证闭环系统所有信号有界,并通过引入最优逼近误差的自适应补偿项来消除建模误差的影响。通过理论分析,证明了跟踪误差收敛到零。     

Optimization of Monotone Nonlinear Systems with a Generalized Effect

In the article, we study the problem of existence of an optimal control for monotone nonlinear distributed systems with a generalized effect. The proposed methods allow one to investigate monotone nonlinear systems with point, impulsive, point-impulsive, and moving controls as well as their generalizations.     

不确定非线性系统的周期信号自适应跟踪

考虑不确定非线性系统的周期信号的自适应跟踪问题. 系统的不确定性不能参数化,周期信号由一非线性系统产生.提出了跟踪周期信号的自适应控制律. 此控制律保证了闭环系统所有的信号有界和跟踪误差趋于零. 已有的有关的周期信号跟踪控制律只能保证跟踪误差的平方在一周期上的积分趋于零.     

High-Order \mathcal{D}^{\alpha}-Type Iterative Learning Control for Fractional-Order Nonlinear Time-Delay Systems

This paper presents a high-order $\mathcal{D}^{\alpha}$ -type iterative learning control (ILC) scheme for a class of fractional-order nonlinear time-delay systems. First, a discrete system for $\mathcal{D}^{\alpha}$ -type ILC is established by analyzing the control and learning processes, and the ILC design problem is then converted to a stabilization problem for this discrete system. Next, by introducing a suitable norm and using a generalized Gronwall–Bellman Lemma, the sufficiency condition for the robust convergence with respect to the bounded external disturbance of the control input and the tracking errors is obtained. Finally, the validity of the method is verified by a numerical example.     

离散系统的广义同步

讨论两个离散系统之间的广义同步．通过构造合适的非线性耦合项,导出了驱动响应系统获得广义同步的充分条件．在一个正不变的有界集上,许多混沌映射满足这些充分条件．通过3个例子,说明了充分条件的有效性．     

Some Applications of Linear Programming Formulations in Stochastic Control

We present two applications of the linearization techniques in stochastic optimal control. In the first part, we show how the assumption of stability under concatenation for control processes can be dropped in the study of asymptotic stability domains. Generalizing Zubov??s method, the stability domain is then characterized as some level set of a semicontinuous generalized viscosity solution of the associated Hamilton?CJacobi?CBellman equation. In the second part, we extend our study to unbounded coefficients and apply the method to obtain a linear formulation for control problems whenever the state equation is a stochastic variational inequality.     

Global robust controllability of the triangular integro-differential Volterra systems

A solution of the global controllability problem for a class of nonlinear control systems of the Volterra integro-differential equations is presented. It is proven that there exists a family of continuous controls that solve the global controllability problem for this class. The constructed controls depend continuously on the initial and the terminal states. It makes possible to prove the global controllability of the uniformly bounded perturbations of these systems under the global Lipschitz condition for the unperturbed system with respect to the states and the controls.